New Rigid-Soft Coupling Structure and Its Stiffness Adjusting Device

As the core component of the robot, the dexterous hand directly determines the level of robotic dexterity. Rigid dexterous hands and soft dexterous hands have their own advantages and disadvantages, and the new rigid-soft coupling structure needs to be studied. In this paper, a new rigid-soft coupling structure is proposed, and a corresponding stiffness adjustment device is designed according to the rigid-soft coupling structure to realize the adjustment of the rigid coupling structure stiffness. According to the rigid-soft coupling structure designed in this paper, a prototype of a rigid-soft coupling dexterous hand principle was successfully fabricated, and the performance and function verification of the dexterous hand was completed through the experimental platform. The performance and reliability of the new rigid-soft coupling structure were verified.